I did the hardest thing ever and signed away my rights

Yesterday was really hard in court. My 16 year old has been in foster care for 8 years because I was stupid... I got my shit together and we had been having court so I could get him back, but when he spoke he cried and said he didn't want to go with me and that he wanted to stay with his mom.... His foster mom... He cried so much and... I couldn't just take him away from his home... That's been his home for 8 years.... I messed up and now I fix things way too late and trying to take him from his home.... So I spoke to my case worker and said I was gonna sign away my rights and just let her adopt him. That took place yesterday. I saw him hug her and he was crying tears of happiness. She was holding him tight.. like a mother should... Like I should have years ago... I told him I would never bother him again and I just want him to be happy. He just hugged her and said nothing to me... I picked my happiness his entire life. So for once I picked his and it hurts but at least he's happy ..